dwa_planner.h

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* Author: Eitan Marder-Eppstein
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#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_H_
#define DWA_LOCAL_PLANNER_DWA_PLANNER_H_
#include <queue>
#include <vector>
#include <Eigen/Core>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf/transform_listener.h>
#include <base_local_planner/trajectory.h>
#include <base_local_planner/map_grid.h>
#include <base_local_planner/costmap_model.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <ros/ros.h>
#include <dwa_local_planner/velocity_iterator.h>

#include <dynamic_reconfigure/server.h>
#include <dwa_local_planner/DWAPlannerConfig.h>

#include <base_local_planner/map_grid_visualizer.h>

namespace dwa_local_planner {
  class DWAPlanner {
    public:
      DWAPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

      ~DWAPlanner() {delete world_model_;}

      Eigen::Vector3f computeNewPositions(const Eigen::Vector3f& pos, const Eigen::Vector3f& vel, double dt);


      void generateTrajectory(Eigen::Vector3f pos, const Eigen::Vector3f& vel, base_local_planner::Trajectory& traj, bool two_point_scoring);

      base_local_planner::Trajectory computeTrajectories(const Eigen::Vector3f& pos, const Eigen::Vector3f& vel);

      bool checkTrajectory(const Eigen::Vector3f& pos, const Eigen::Vector3f& vel);

      base_local_planner::Trajectory findBestPath(tf::Stamped<tf::Pose> global_pose, tf::Stamped<tf::Pose> global_vel, 
          tf::Stamped<tf::Pose>& drive_velocities);

      void updatePlan(const std::vector<geometry_msgs::PoseStamped>& new_plan);

      Eigen::Vector3f getAccLimits() { return acc_lim_; }

      double getSimPeriod() { return sim_period_; }

      bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost);

    private:
      void reconfigureCB(DWAPlannerConfig &config, uint32_t level);

      double footprintCost(const Eigen::Vector3f& pos, double scale);

      void selectBestTrajectory(base_local_planner::Trajectory* &best, base_local_planner::Trajectory* &comp);

      void resetOscillationFlags();

      void resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev);

      bool setOscillationFlags(base_local_planner::Trajectory* t);

      inline double squareDist(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2){
        return (p1.pose.position.x - p2.pose.position.x) * (p1.pose.position.x - p2.pose.position.x)
          + (p1.pose.position.y - p2.pose.position.y) * (p1.pose.position.y - p2.pose.position.y);
      }

      inline Eigen::Vector3f getMaxSpeedToStopInTime(double time){
        return acc_lim_ * std::max(time, 0.0);
      }

      bool oscillationCheck(const Eigen::Vector3f& vel);

      base_local_planner::MapGrid map_, front_map_;
      costmap_2d::Costmap2DROS* costmap_ros_;
      costmap_2d::Costmap2D costmap_;
      double stop_time_buffer_;
      double pdist_scale_, gdist_scale_, occdist_scale_, heading_scale_;
      Eigen::Vector3f acc_lim_, vsamples_, prev_stationary_pos_;
      std::vector<geometry_msgs::Point> footprint_spec_;
      base_local_planner::CostmapModel* world_model_;
      double sim_time_, sim_granularity_;
      double max_vel_x_, min_vel_x_;
      double max_vel_y_, min_vel_y_, min_vel_trans_, max_vel_trans_;
      double max_vel_th_, min_vel_th_, min_rot_vel_;
      double sim_period_;
      base_local_planner::Trajectory traj_one_, traj_two_;
      bool strafe_pos_only_, strafe_neg_only_, strafing_pos_, strafing_neg_;
      bool rot_pos_only_, rot_neg_only_, rotating_pos_, rotating_neg_;
      bool forward_pos_only_, forward_neg_only_, forward_pos_, forward_neg_;
      double oscillation_reset_dist_;
      double heading_lookahead_, forward_point_distance_;
      double scaling_speed_, max_scaling_factor_;
      std::vector<geometry_msgs::PoseStamped> global_plan_;

      dynamic_reconfigure::Server<DWAPlannerConfig> dsrv_;
      dwa_local_planner::DWAPlannerConfig default_config_;
      bool setup_;
      boost::mutex configuration_mutex_;
      bool penalize_negative_x_;
      base_local_planner::MapGridVisualizer map_viz_; 
  };
};
#endif